/*
 * Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
 * 
 * This program is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License as published by the Free Software
 * Foundation; either version 2 of the License, or (at your option) any later
 * version.
 * 
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
 * details.
 * 
 * You should have received a copy of the GNU General Public License along with
 * this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 * Place, Suite 330, Boston, MA 02111-1307 USA
 * 
 * -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ 
 * $Date: 2005/03/17 17:55:54 $
 * $Revision: 1.6 $
 * $Source: /cvsroot/simbad/src/simbad/demo/ImagerDemo.java,v $
 */
package simbad.demo;

import java.awt.Color;
import java.awt.Dimension;
import java.awt.Graphics;

import javax.swing.JInternalFrame;
import javax.swing.JPanel;
import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;

import simbad.sim.Agent;
import simbad.sim.Arch;
import simbad.sim.Box;
import simbad.sim.CameraSensor;
import simbad.sim.RobotFactory;
import simbad.sim.SensorMatrix;
import simbad.sim.Wall;

/**
 * An image processing demo. This demo shows how to capture the camera image ,
 * process it and display it in a dedicated window.
 * 
 */
public class ImagerDemo extends Demo {

	class DemoRobotImager extends Agent {
		double elapsed;

		CameraSensor camera;

		SensorMatrix luminanceMatrix;

		JPanel panel;

		JInternalFrame window;

		class ImagerPanel extends JPanel {

			private static final long serialVersionUID = 1L;

			@Override
			protected void paintComponent(Graphics g) {
				int width = luminanceMatrix.getWidth();
				int height = luminanceMatrix.getHeight();
				super.paintComponent(g);
				g.setColor(Color.WHITE);
				g.fillRect(0, 0, width, height);
				g.setColor(Color.BLACK);
				for (int y = 0; y < height; y += 4) {
					for (int x = 0; x < width; x += 4) {
						float level = luminanceMatrix.get(x, y);
						if (level < 0.5) {
							g.fillRect(x, y, 4, 4);
						}
					}
				}

			}
		}

		public DemoRobotImager(Vector3d position, String name) {
			super(position, name);
			camera = RobotFactory.addCameraSensor(this);
			// prepare a buffer for storing gray level image
			luminanceMatrix = camera.createCompatibleSensorMatrix();
			// Prepare UI panel for image display
			panel = new ImagerPanel();
			Dimension dim = new Dimension(luminanceMatrix.getWidth(), luminanceMatrix.getHeight());
			panel.setPreferredSize(dim);
			panel.setMinimumSize(dim);
			setUIPanel(panel);
		}

		/** Initialize Agent's Behavior */
		@Override
		public void initBehavior() {
			elapsed = getLifeTime();

		}

		/** Perform one step of Agent's Behavior */
		@Override
		public void performBehavior() {

			// progress at 0.5 m/s
			setTranslationalVelocity(0.5);
			// frequently change orientation
			if ((getCounter() % 100) == 0)
				setRotationalVelocity(Math.PI / 2 * (0.5 - Math.random()));

			// display every second a binarized representation of camera image.
			if ((getLifeTime() - elapsed) > 1) {
				elapsed = getLifeTime();
				camera.copyVisionImage(luminanceMatrix);
				panel.repaint();
			}
			if (collisionDetected())
				moveToStartPosition();
		}
	}

	public ImagerDemo() {
		Wall w1 = new Wall(new Vector3d(9, 0, 0), 19, 1, this);
		w1.rotate90(1);
		add(w1);
		Wall w2 = new Wall(new Vector3d(-9, 0, 0), 19, 2, this);
		w2.rotate90(1);
		add(w2);
		Wall w3 = new Wall(new Vector3d(0, 0, 9), 19, 1, this);
		add(w3);
		Wall w4 = new Wall(new Vector3d(0, 0, -9), 19, 2, this);
		add(w4);
		Box b1 = new Box(new Vector3d(-3, 0, -3), new Vector3f(1, 1, 2), this);
		add(b1);
		Arch a1 = new Arch(new Vector3d(3, 0, -3), this);
		add(a1);
		add(new DemoRobotImager(new Vector3d(0, 0, 0), "DemoRobot"));
	}
}